CN114103935A - Collision detection method and device, vehicle, storage medium and electronic equipment - Google Patents

Collision detection method and device, vehicle, storage medium and electronic equipment Download PDF

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Publication number
CN114103935A
CN114103935A CN202010865069.6A CN202010865069A CN114103935A CN 114103935 A CN114103935 A CN 114103935A CN 202010865069 A CN202010865069 A CN 202010865069A CN 114103935 A CN114103935 A CN 114103935A
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vehicle
motor
rotating speed
acceleration
current
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Chinese (zh)
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王永兴
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Beiqi Foton Motor Co Ltd
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Beiqi Foton Motor Co Ltd
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Priority to CN202010865069.6A priority Critical patent/CN114103935A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0007—Measures or means for preventing or attenuating collisions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/04—Cutting off the power supply under fault conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/12—Recording operating variables ; Monitoring of operating variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present disclosure provides a method, an apparatus, a vehicle, a storage medium, and an electronic device for collision detection, the method including: acquiring the current motor rotating speed of a vehicle acquired at the current acquisition moment and the historical motor rotating speed of the vehicle acquired at the previous acquisition moment; acquiring the motor acceleration of the vehicle according to the current motor rotating speed and the historical motor rotating speed; determining whether the vehicle has a collision according to the motor acceleration. Therefore, the collision detection of the vehicle can be realized under the condition of not increasing a sensor, so that relevant safety measures can be implemented when the collision is detected, the vehicle cost is reduced, and the safety performance of the vehicle is ensured.

Description

Collision detection method and device, vehicle, storage medium and electronic equipment
Technical Field
The present disclosure relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for collision detection, a vehicle, a storage medium, and an electronic device.
Background
With the wider application of electric vehicles, the safety of electric vehicles has attracted sufficient attention. The energy of the electric automobile comes from a power battery, the power system belongs to a high-voltage component, and when the electric automobile collides, the high-voltage electrified equipment is easy to leak, so that high voltage is caused to hurt people, and the safety of the people is harmed. Therefore, the electric vehicle needs to perform collision detection in order to implement relevant safety measures for the vehicle and the power battery of the vehicle when the collision is detected. In the related art, whether a vehicle collides or not is generally detected by a collision sensor mounted on the vehicle, so that the cost is high; meanwhile, some vehicles do not have related sensors, so that collision detection cannot be carried out, and safety risks exist.
Disclosure of Invention
To solve the above problems, the present disclosure provides a method, an apparatus, a vehicle, a storage medium, and an electronic device for collision detection.
In a first aspect, the present disclosure provides a method of collision detection, the method comprising: acquiring the current motor rotating speed of a vehicle acquired at the current acquisition moment and the historical motor rotating speed of the vehicle acquired at the previous acquisition moment; acquiring the motor acceleration of the vehicle according to the current motor rotating speed and the historical motor rotating speed; determining whether the vehicle has a collision according to the motor acceleration.
Optionally, the obtaining of the motor acceleration of the vehicle according to the current motor speed and the historical motor speed includes: calculating the difference value between the current motor rotating speed and the historical motor rotating speed; and taking the ratio of the difference to the target time length as the motor acceleration, wherein the target time length is the time length between the last acquisition time and the current acquisition time.
Optionally, the determining whether the vehicle has a collision according to the motor acceleration further comprises: determining that the vehicle has collided when the motor acceleration is less than or equal to a preset acceleration threshold value, wherein the preset acceleration threshold value is less than the motor acceleration of the vehicle under the condition of maximum braking.
Optionally, after determining that the vehicle has collided, the method further comprises at least one of: disconnecting the power battery output of the vehicle; and sending vehicle collision prompt information.
Optionally, before obtaining the current motor speed of the vehicle collected at the current collecting time, the method further includes: determining whether the vehicle is in a shift state in the case where the vehicle includes a multi-speed transmission; the acquiring the current motor rotating speed acquired by the vehicle at the current acquisition moment comprises the following steps: and under the condition that the vehicle is in a non-gear shifting state, acquiring the current motor rotating speed acquired by the vehicle at the current acquisition moment.
In a second aspect, the present disclosure provides an apparatus for collision detection, the apparatus comprising: the motor rotating speed acquisition module is used for acquiring the current motor rotating speed acquired by the vehicle at the current acquisition moment and the historical motor rotating speed acquired by the vehicle at the previous acquisition moment; the motor acceleration acquisition module is used for acquiring the motor acceleration of the vehicle according to the current motor rotating speed and the historical motor rotating speed; and the collision detection module is used for determining whether the vehicle collides according to the motor acceleration.
Optionally, the motor acceleration obtaining module is configured to calculate a difference between the current motor rotation speed and the historical motor rotation speed; and taking the ratio of the difference to the target time length as the acceleration of the motor, wherein the target time length is the time length between the last acquisition time and the current acquisition time.
Optionally, the collision detection module is configured to determine that the vehicle has a collision when the motor acceleration is less than or equal to a preset acceleration threshold, where the preset acceleration threshold is less than the motor acceleration of the vehicle under the condition of maximum braking.
Optionally, the apparatus further comprises at least one of: the battery control module is used for disconnecting the power battery output of the vehicle; and the collision prompt module is used for sending vehicle collision prompt information.
Optionally, the apparatus further comprises: a shift state determination module for determining whether the vehicle is in a shift state if the vehicle includes a multi-speed transmission; the motor rotating speed obtaining module is used for obtaining the current motor rotating speed of the vehicle collected at the current collecting time under the condition that the vehicle is in a non-gear shifting state.
In a third aspect, the present disclosure provides a vehicle comprising the apparatus of the second aspect.
In a fourth aspect, the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect of the present disclosure.
In a fifth aspect, the present disclosure provides an electronic device comprising: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to perform the steps of the method of the first aspect of the disclosure.
Through the technical scheme, the motor rotating speed of the vehicle is obtained, the motor acceleration of the vehicle is obtained according to the motor rotating speed, and whether the vehicle is collided or not is determined through the motor acceleration. Therefore, the collision detection of the vehicle can be realized under the condition of not increasing a sensor, so that relevant safety measures can be implemented when the collision is detected, the vehicle cost is reduced, and the safety performance of the vehicle is ensured.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a flow chart of a method of collision detection provided by an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of an apparatus for collision detection provided in an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a second collision detection apparatus provided in the embodiments of the present disclosure;
FIG. 4 is a schematic structural diagram of a third collision detection apparatus provided in the embodiments of the present disclosure;
FIG. 5 is a block diagram of a vehicle provided by an embodiment of the present disclosure;
fig. 6 is a block diagram of an electronic device provided by an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the description that follows, the terms "first," "second," and the like are used for descriptive purposes only and are not intended to indicate or imply relative importance nor order to be construed.
First, an application scenario of the present disclosure will be explained. The present disclosure may be applied to electric vehicles that require collision detection in order to implement relevant safety measures when a collision is detected. In the related art, whether the vehicle collides or not is detected by a collision sensor mounted on the vehicle, which is high in cost; meanwhile, some vehicles do not have related sensors, so that collision detection cannot be carried out, and safety risk exists.
In order to solve the above problems, the present disclosure provides a method, an apparatus, a vehicle, a storage medium, and an electronic device for collision detection. The method comprises the steps of obtaining the motor rotating speed of a vehicle, obtaining the motor acceleration of the vehicle according to the motor rotating speed, and determining whether the vehicle collides or not according to the motor acceleration. Therefore, the vehicle collision detection, particularly the forward collision detection can be realized under the condition of not increasing a sensor, so that relevant safety measures can be implemented when the collision is detected, the vehicle cost is reduced, and the safety performance of the vehicle is ensured.
It should be noted that the inventors found that: the motor speed of the electric vehicle is in a direct proportion relation with the vehicle speed, the motor acceleration is also in a direct proportion relation with the vehicle acceleration, and when the vehicle is collided, the acceleration is suddenly reduced to a smaller negative value, so that whether the vehicle is collided or not can be determined according to the motor acceleration. The relationship between the motor speed and the vehicle speed can be obtained by the following formula:
V＝0.377*n*r/ig/i0，
wherein V represents a vehicle speed in km/h (kilometers per hour); n represents the motor speed in rpm; r represents a tire rolling radius in m (meters); i.e. igRepresenting transmission ratio of the gearbox, without unit, as a preset parameter of the vehicle powertrain, representing motor rotation i0The ring can drive the transmission shaft to rotate for 1 circle; i.e. i0Representing the final drive ratio, unitless, also a predetermined parameter of the vehicle powertrain, representing the drive shaft rotation igAnd the ring drives the rear wheel to rotate for 1 circle. For example: n is 2000rpm, r is 0.32m, igIs 4.11, i0At 1.03, V was calculated to be 57 km/h.
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings.
Fig. 1 is a method for collision detection provided in an embodiment of the present disclosure, and as shown in fig. 1, the method includes:
s101, acquiring the current motor rotating speed of the vehicle acquired at the current acquisition moment and the historical motor rotating speed of the vehicle acquired at the previous acquisition moment.
The vehicle may be an electric vehicle, which uses electric energy as motive power to drive a traction motor to drive the vehicle.
In this step, the motor speed may be periodically obtained according to a preset collection period through a motor speed collection device, the motor speed collection device may be a speed sensor, the current motor speed may be a motor speed collected at a current collection time, and the historical motor speed may be a motor speed collected at a previous collection time, where a preset collection period may be provided between the previous collection time and the current collection time.
By way of example, for example: acquiring the motor rotating speed of the vehicle by taking 1 second as a preset acquisition period, acquiring that the motor rotating speed is 100rpm in the 1 st second after the motor is started, acquiring that the motor rotating speed is 200rpm in the 2 nd second, wherein the current motor rotating speed in the 2 nd second is 200rpm, and the corresponding historical motor rotating speed is 100rpm acquired in the 1 st second; similarly, if the motor speed acquired in the 3 rd second is 50rpm, the current motor speed in the 3 rd second is 50rpm, and the corresponding historical motor speed is 200rpm acquired in the 2 nd second. The preset acquisition period of 1 second is only an example, and the preset acquisition period may also be various values such as 0.01 second, 0.1 second, 0.5 second, 10 seconds, and the like, which is not limited in this disclosure.
And S102, acquiring the motor acceleration of the vehicle according to the current motor rotating speed and the historical motor rotating speed.
And S103, determining whether the vehicle is collided according to the motor acceleration.
In this step, in the case where the motor acceleration is less than or equal to the preset acceleration threshold, it may be determined that the vehicle has collided; in the case where the above-mentioned motor acceleration is greater than the preset acceleration threshold, which may be a negative number, it may be determined that the vehicle has not collided.
In normal driving of an electric vehicle, the motor acceleration is generally a relatively stable value, for example, the acceleration is close to 0 when the vehicle is running on a clear highway at a constant speed. When the vehicle is collided, particularly when the vehicle is collided in the positive direction, the speed of the vehicle is rapidly reduced due to the action of the external force of the collision, the speed of the motor is synchronously reduced, and the acceleration of the motor obtained by collecting the speed of the motor and calculating the acceleration becomes a negative number and is a small negative number. Therefore, in the case where the motor acceleration is smaller than the preset acceleration threshold, it may be determined that the vehicle has collided, whereas in the case where the motor acceleration is larger than the preset acceleration threshold, it may be determined that the vehicle has not collided.
The manner of determining whether the vehicle has collided with based on the above motor acceleration in the above step S103 is specifically described below by two examples:
example 1: the preset acceleration threshold value is-100 rpm/s, the preset acquisition period obtained by the motor speed and the motor acceleration is 1 second, when the vehicle runs on a smooth road at a constant speed, the obtained current motor speed is 3000rpm, and the historical motor speed obtained at the sampling moment of the previous second is also 3000rpm, the motor acceleration is calculated to be (3000 + 3000)/1-0 rpm/s, and the motor acceleration is greater than the preset acceleration threshold value-100 rpm/s, so that the vehicle is determined not to be collided.
Example 2: similarly, the preset acceleration threshold is-100 rpm/s, the preset acquisition period obtained by the motor speed and the motor acceleration is 1 second, when the vehicle collides, the obtained current motor speed is suddenly reduced to 500rpm, the historical motor speed obtained at the sampling time of the last second is 3000rpm, the motor acceleration is calculated to be (500 plus 3000)/1 to-2500 rpm/s, and the motor acceleration is smaller than the preset acceleration threshold to-100 rpm/s, so that the vehicle is determined to have collided.
Thus, with the above method, the motor acceleration of the vehicle is obtained from the motor speed of the vehicle, and it is determined whether the vehicle has a collision or not based on the motor acceleration. Therefore, under the condition of not increasing a sensor, the collision detection of the vehicle, particularly the detection of the forward collision is realized, so that the collision safety measures are implemented based on the collision detection result, the vehicle cost is reduced, and the safety performance of the vehicle is ensured.
In a possible implementation manner, the step S102 may include the following implementation manners: calculating the difference value between the current motor rotating speed and the historical motor rotating speed, and taking the ratio of the difference value to a target time length as the motor acceleration, wherein the target time length is the time length between the last acquisition time of acquiring the historical motor rotating speed and the current acquisition time of acquiring the current motor rotating speed. In this way, the calculation formula of the motor acceleration may be:
a＝(n1-n0)/t，
wherein a is the motor acceleration and the unit is rpm/s; n is0In rpm, n for historical motor speeds1The unit of the current motor rotating speed is rpm; t is the target duration in units of s.
For example, the motor speed and the motor acceleration may be periodically obtained according to a preset collection period, in a first preset collection period of starting a motor of a vehicle, only the current motor speed at the current collection time may be obtained, but there is no historical motor speed at the previous collection time, and at this time, the motor acceleration may not be obtained, and from a second preset collection period after starting the motor, each period may be calculated to obtain the motor acceleration. For example: acquiring the motor rotating speed and the motor acceleration of the vehicle by taking 1 second as a preset acquisition period, acquiring that the motor rotating speed is 100rpm in the 1 st second after the motor is started, and not acquiring the motor acceleration at the moment; acquiring the motor rotating speed of 200rpm in the 2 nd second, then acquiring the current motor rotating speed of 200rpm in the 2 nd second and the corresponding historical motor rotating speed of 100rpm acquired in the 1 st second, and calculating to obtain the motor acceleration of (200 + 100)/1-100 rpm/s; and if the motor rotating speed acquired in the 3 rd second is 50rpm, the current motor rotating speed in the 3 rd second is 50rpm, the corresponding historical motor rotating speed is 200rpm acquired in the 2 nd second, and the motor acceleration is calculated to be (50-200)/1-150 rpm/s.
In addition, after the motor acceleration is calculated according to the current motor rotating speed and the historical motor rotating speed, the motor acceleration can be filtered, interference signals are filtered, and more accurate motor acceleration is obtained. Illustratively, the burst glitch signal may be blocked or attenuated by low-pass filtering. For example, with 1 second as a preset sampling period, in the normal running process of a vehicle, the motor rotation speeds acquired at a plurality of consecutive sampling moments are all relatively stable values of 200rpm, a relatively large motor rotation speed of 400rpm is acquired at a first subsequent sampling moment, the motor rotation speeds acquired at a second subsequent sampling moment and a third subsequent sampling moment are both 200rpm, the motor acceleration calculated according to the method at the second sampling moment is (200 + 400)/1-200 rpm/s, the motor acceleration obtained at this time is actually an interference signal, and the interference signal can be removed by adopting low-pass filtering. Of course, the collected motor rotating speed can be filtered to filter interference signals, and the same effect can be achieved. Therefore, through the filtering algorithm, the wrong motor acceleration can be prevented from being calculated due to sudden fluctuation of the motor rotating speed, and the accuracy of collision detection is improved.
It should be noted that when the vehicle brakes, especially when the vehicle brakes suddenly, the motor speed decreases, and the resulting motor acceleration will also be a negative value. In order to avoid the misjudgment of the vehicle collision caused by the braking of the vehicle, in another implementation manner of the step S103, whether the vehicle has collided or not may be determined by: in the case where the above-described motor acceleration is less than or equal to a preset acceleration threshold value, which is less than the motor acceleration of the vehicle under the maximum braking condition, it can be determined that the vehicle has collided. By the mode, vehicle braking and vehicle collision can be distinguished, vehicle braking is prevented from being mistakenly detected as vehicle collision, and a more accurate vehicle collision detection result is obtained.
The motor acceleration of the vehicle under the condition of maximum braking has two acquisition modes:
the first method is as follows: can be obtained by a vehicle braking test. In the vehicle braking test, the motor acceleration of the vehicle under the maximum braking condition can be measured. For example a measured motor acceleration of-25 rpm/s for the vehicle under maximum braking conditions, the above-mentioned preset acceleration threshold value may be set to a value less than or equal to-25 rpm/s, for example-30 rpm/s.
The second method comprises the following steps: can be obtained by the following formula:
a2＝a1*ig*i0/(2*r*3.14)，
wherein, a2The motor acceleration representing the motor acceleration of the vehicle under the condition of maximum braking in rpm/s; a is1Representing the maximum braking acceleration of the vehicle in m/s2(ii) a r represents a tire rolling radius in m (meters); i.e. igRepresents the transmission ratio of the gearbox, without unit; i.e. i0Representing the final drive ratio without a single position. A above1、r、ig、i0Are all preset parameters of the vehicle and can be obtained through specifications of the vehicle.
For example: maximum braking acceleration a of vehicle1Is-10 m/s2The rolling radius r of the tyre is 0.32m, and the transmission ratio i of the gearboxgIs 4.11, final drive ratio i01.03, the motor acceleration a of the vehicle under the maximum braking condition is calculated2Is-21.07 rpm/s, and accordingly, the above-mentioned preset acceleration threshold value can be setThe setting is made at a value of less than-21.07 rpm/s, and may be set, for example, at-30 rpm/s.
Optionally, in another embodiment of the present disclosure, after determining that the vehicle has collided, the method may further include at least one of the following two ways:
the first method is as follows: the power battery output of the vehicle is disconnected.
Specifically, a main positive relay and a main negative relay of the vehicle power battery can be disconnected, the power battery output is cut off, and high-voltage safety is realized. For example, after determining that the Vehicle has collided, a collision status indication or a high voltage power-off request may be sent to a VCU (Vehicle control Unit) through a CAN (Controller Area Network) bus of the Vehicle, and the VCU disconnects a main positive relay and a main negative relay of the power battery in response to the collision status indication or the high voltage power-off request, thereby disconnecting the power battery output of the Vehicle. By the mode, high-voltage safety after the vehicle collides can be guaranteed, and the safety of the electric vehicle is improved.
The second method comprises the following steps: and sending vehicle collision prompt information.
After the vehicle is determined to have collided, an alarm indication CAN be sent to the VCU through the CAN bus of the vehicle, the VCU responds to the alarm indication and sends vehicle collision prompt information, for example, a vehicle collision short message prompt is sent to an emergency contact phone number preset in the vehicle, and the collision short message CAN include current position information of the vehicle and the like. Through the method, after the vehicle collision happens, the preset emergency contact person of the vehicle can be timely notified, so that the emergency contact person assists in rescuing the vehicle driver and the passenger.
Optionally, in another embodiment of the present disclosure, in a case that a multi-gear transmission is adopted in a power system of an electric vehicle, since a motor needs to adjust speed when the transmission shifts gears, acceleration of the motor is great at this time, which may affect accuracy of the collision detection, and therefore, in another embodiment of the present disclosure, the following method is adopted to avoid an influence of the shifting on the collision detection: in the case of a vehicle comprising a multi-speed gearbox, determining whether the vehicle is in a gear shift state; in the case where it is determined that the vehicle is in the non-shift state, the above-described steps S101 to S103 are performed; in the case where it is determined that the vehicle is in the shift state, the above-described steps S101 to S103 are not performed. It should be noted that most of the power systems of electric vehicles adopt a single-speed transmission or direct drive mode, which is mainly determined by the characteristics of the electric motor of the electric vehicle, and unlike the fuel engine, the electric motor can output full power from 0rpm, and has no idle trouble, and meanwhile, the maximum output power of the electric motor can be kept in a very wide rpm range, and can basically cover various different operating conditions encountered by the vehicle. Of course, some electric vehicles also start to use a multi-speed transmission in order to improve the power output efficiency of the motor. In the case that the vehicle uses a multi-gear transmission, the gear shifting operation of the vehicle is realized by the VCU control, and in this embodiment, the gear shifting operation of the vehicle transmitted by the VCU may be obtained through the CAN bus, so as to determine whether the vehicle is in a gear shifting state, and then perform the above different processing steps. By means of the mode, false detection caused by gear shifting can be avoided, and the accuracy of collision detection is further improved.
Fig. 2 is a schematic structural diagram of an apparatus for collision detection according to an embodiment of the present disclosure, as shown in fig. 2, the apparatus includes:
a motor rotation speed obtaining module 201, configured to obtain a current motor rotation speed acquired by a vehicle at a current acquisition time and a historical motor rotation speed acquired by the vehicle at a previous acquisition time;
a motor acceleration obtaining module 202, configured to obtain a motor acceleration of the vehicle according to the current motor rotation speed and the historical motor rotation speed;
and the collision detection module 203 is used for determining whether the vehicle collides according to the motor acceleration.
Optionally, the motor acceleration obtaining module 202 is configured to calculate a difference between the current motor rotation speed and the historical motor rotation speed; and taking the ratio of the difference to the target time length as the motor acceleration, wherein the target time length is the time length between the last acquisition time and the current acquisition time.
Optionally, the collision detection module 203 is configured to determine that the vehicle has a collision if the motor acceleration is less than or equal to a preset acceleration threshold, where the preset acceleration threshold is less than the motor acceleration of the vehicle under the maximum braking condition.
Optionally, fig. 3 is a schematic structural diagram of a second collision detection apparatus provided in the embodiment of the present disclosure, and as shown in fig. 3, the apparatus further includes at least one of the following:
a battery control module 301 for disconnecting the power battery output of the vehicle;
and the collision prompt module 302 is used for sending vehicle collision prompt information.
Optionally, fig. 4 is a schematic structural diagram of a third collision detection apparatus provided in the embodiment of the present disclosure, and as shown in fig. 4, the apparatus further includes:
a gear state determination module 401 for determining whether the vehicle is in a gear state in case the vehicle comprises a multi-speed gearbox;
the motor speed obtaining module 201 is configured to obtain a current motor speed of the vehicle collected at a current collecting time when the vehicle is in a non-gear shifting state.
FIG. 5 is a schematic diagram of a vehicle according to an exemplary embodiment. As shown in fig. 5, the vehicle may include the above-described collision detection apparatus.
Fig. 6 is a block diagram illustrating an electronic device 600 according to an example embodiment. As shown in fig. 6, the electronic device 600 may include: a processor 601 and a memory 602. The electronic device 600 may also include one or more of a multimedia component 603, an input/output (I/O) interface 604, and a communications component 605.
The processor 601 is configured to control the overall operation of the electronic device 600 to complete all or part of the steps of the collision detection method. The memory 602 is used to store various types of data to support operation at the electronic device 600, such as instructions for any application or method operating on the electronic device 600 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and so forth. The Memory 602 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 603 may include a screen and audio components. Which may be, for example, a touch screen, and an audio component for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may further be stored in the memory 602 or transmitted through the communication component 605. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 604 provides an interface between the processor 601 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G or 5G, NB-IOT (Narrow Band Internet of Things), or a combination of one or more of them, so that the corresponding Communication component 605 may include: Wi-Fi module, bluetooth module, NFC module. s
In an exemplary embodiment, the electronic Device 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the collision detection method described above.
In another exemplary embodiment, a computer readable storage medium comprising program instructions is also provided, which when executed by a processor, implement the steps of the collision detection method described above. For example, the computer readable storage medium may be the memory 602 described above including program instructions that are executable by the processor 601 of the electronic device 600 to perform the collision detection method described above.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A method of collision detection, the method comprising:
acquiring the current motor rotating speed of a vehicle acquired at the current acquisition moment and the historical motor rotating speed of the vehicle acquired at the previous acquisition moment;
acquiring the motor acceleration of the vehicle according to the current motor rotating speed and the historical motor rotating speed;
determining whether the vehicle has a collision according to the motor acceleration.
2. The method of claim 1, wherein said obtaining motor acceleration of the vehicle based on the current motor speed and the historical motor speed comprises:
calculating the difference value between the current motor rotating speed and the historical motor rotating speed;
and taking the ratio of the difference to the target time length as the motor acceleration, wherein the target time length is the time length between the last acquisition time and the current acquisition time.
3. The method of claim 1, wherein said determining whether the vehicle is in a collision based on the motor acceleration further comprises:
determining that the vehicle has collided when the motor acceleration is less than or equal to a preset acceleration threshold value, wherein the preset acceleration threshold value is less than the motor acceleration of the vehicle under the condition of maximum braking.
4. The method of claim 3, wherein after determining that the vehicle has collided, the method further comprises at least one of:
disconnecting the power battery output of the vehicle;
and sending vehicle collision prompt information.
5. The method of claim 1, wherein prior to obtaining the current motor speed of the vehicle collected at the current collection time, the method further comprises:
determining whether the vehicle is in a shift state in the case where the vehicle includes a multi-speed transmission;
the acquiring the current motor rotating speed acquired by the vehicle at the current acquisition moment comprises the following steps:
and under the condition that the vehicle is in a non-gear shifting state, acquiring the current motor rotating speed acquired by the vehicle at the current acquisition moment.
6. An apparatus for collision detection, the apparatus comprising:
the motor rotating speed acquisition module is used for acquiring the current motor rotating speed acquired by the vehicle at the current acquisition moment and the historical motor rotating speed acquired by the vehicle at the last acquisition moment;
the motor acceleration acquisition module is used for acquiring the motor acceleration of the vehicle according to the current motor rotating speed and the historical motor rotating speed;
and the collision detection module is used for determining whether the vehicle collides according to the motor acceleration.
7. The apparatus of claim 6, further comprising:
a shift state determination module for determining whether the vehicle is in a shift state if the vehicle includes a multi-speed transmission;
the motor rotating speed obtaining module is used for obtaining the current motor rotating speed collected by the vehicle at the current collecting moment when the vehicle is in a non-gear shifting state.
8. A vehicle, characterized in that the vehicle comprises:
a collision detecting device according to claim 6 or 7.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 5.
CN202010865069.6A 2020-08-25 2020-08-25 Collision detection method and device, vehicle, storage medium and electronic equipment Withdrawn CN114103935A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010865069.6A CN114103935A (en) 2020-08-25 2020-08-25 Collision detection method and device, vehicle, storage medium and electronic equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010865069.6A CN114103935A (en) 2020-08-25 2020-08-25 Collision detection method and device, vehicle, storage medium and electronic equipment

Publications (1)

Publication Number Publication Date
CN114103935A true CN114103935A (en) 2022-03-01

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Country Status (1)

Country Link
CN (1) CN114103935A (en)

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Application publication date: 20220301